#include <EdgeValidityCheckerMethod.h>

Inheritance diagram for EdgeValidityCheckerMethod:

Collaboration diagram for EdgeValidityCheckerMethod:

Public Types
Motion Planning Types
typedef MPBaseObject::RoadmapType	RoadmapType

typedef RoadmapType::VID	VID

typedef RoadmapType::EID	EID

typedef RoadmapType::adj_edge_iterator	EI

Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType

typedef GenericStateGraph< Cfg, WeightType >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType

Public Member Functions
Construction
	EdgeValidityCheckerMethod ()=default

	EdgeValidityCheckerMethod (XMLNode &_node)

virtual	~EdgeValidityCheckerMethod ()=default

void	Initialize ()=0

EdgeValidityChecker Interface
virtual bool	ValidateEdge (VID _u, VID _v, vector< size_t > &_collisions)=0

virtual bool	ValidateEdge (Cfg &_c1, Cfg &_c2, vector< size_t > &_collisions)=0
	Cfg version of ValidateEdge. More...

void	SetReportCollisions (bool _reportCollisions)

virtual double	EdgeWeightedClearance (VID _u, VID _v)=0

virtual double	EdgeWeightedClearance (Cfg &_c1, Cfg &_c2)=0
	Cfg version of EdgeWeightedClearance. More...

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

virtual void	Print (std::ostream &_os) const

const std::string &	GetName () const
	Get the class name for this object. More...

const std::string &	GetLabel () const
	Get the unique label for this object. More...

std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...

void	SetLabel (const std::string &)
	Set the unique label for this object. More...

void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...

MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...

bool	IsRunning () const noexcept
	Check the library's running flag. More...

MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...

Environment *	GetEnvironment () const noexcept
	Get the current environment. More...

MPTask *	GetTask () const noexcept
	Get the current task. More...

GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...

MPSolutionType *	GetMPSolution () const noexcept

RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...

GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...

RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...

Path *	GetPath (Robot *const _r=nullptr) const noexcept

GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...

StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...

LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Protected Attributes
Internal State
bool	m_reportCollisions {false}

Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Additional Inherited Members
Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Detailed Description

@Edge validity checkers validate an edge of the roadmap.

EdgeValidityCheckerMethod has one main method, ValidateEdge that takes either two Cfgs or two VIDs and validates the edge between them.

Member Typedef Documentation

◆ EI

typedef RoadmapType::adj_edge_iterator EdgeValidityCheckerMethod::EI

◆ EID

typedef RoadmapType::EID EdgeValidityCheckerMethod::EID

◆ RoadmapType

typedef MPBaseObject::RoadmapType EdgeValidityCheckerMethod::RoadmapType

◆ VID

typedef RoadmapType::VID EdgeValidityCheckerMethod::VID

Constructor & Destructor Documentation

◆ EdgeValidityCheckerMethod() [1/2]

EdgeValidityCheckerMethod::EdgeValidityCheckerMethod ( )

default

◆ EdgeValidityCheckerMethod() [2/2]

EdgeValidityCheckerMethod::EdgeValidityCheckerMethod ( XMLNode & _node )

◆ ~EdgeValidityCheckerMethod()

virtual EdgeValidityCheckerMethod::~EdgeValidityCheckerMethod ( )

virtualdefault

Member Function Documentation

◆ EdgeWeightedClearance() [1/2]

virtual double EdgeValidityCheckerMethod::EdgeWeightedClearance	(	Cfg &	_c1,
		Cfg &	_c2
	)

pure virtual

Cfg version of EdgeWeightedClearance.

Implemented in IntermediatesEdgeValidityChecker.

◆ EdgeWeightedClearance() [2/2]

virtual double EdgeValidityCheckerMethod::EdgeWeightedClearance	(	VID	_u,
		VID	_v
	)

pure virtual

Determines the clearance of the edge given by two VIDs, and assigns it as the weight of the edge

Parameters

_u	The source of the edge
_v	The target of the edge

Returns: The clearance of the edge

Note: Takes into account weighted obstacles

Implemented in IntermediatesEdgeValidityChecker.

◆ Initialize()

void EdgeValidityCheckerMethod::Initialize ( )

pure virtual

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning: This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from MPBaseObject.

Implemented in IntermediatesEdgeValidityChecker.

◆ SetReportCollisions()

void EdgeValidityCheckerMethod::SetReportCollisions ( bool _reportCollisions )

inline

Setter for the report collision boolean

Parameters

_reportCollisions the new value of m_reportCollisions

◆ ValidateEdge() [1/2]

virtual bool EdgeValidityCheckerMethod::ValidateEdge	(	Cfg &	_c1,
		Cfg &	_c2,
		vector< size_t > &	_collisions
	)

pure virtual

Cfg version of ValidateEdge.

Implemented in IntermediatesEdgeValidityChecker.

◆ ValidateEdge() [2/2]

virtual bool EdgeValidityCheckerMethod::ValidateEdge	(	VID	_u,
		VID	_v,
		vector< size_t > &	_collisions
	)

pure virtual

Checks the validity of an edge

Parameters

_u	The source of the edge to validate
_v	The target of the edge to validate
_collisions	An empty container that will be populated with a list of obstacles with which the edge collides.

Returns: True if the edge between _u and _v does is valid.

Implemented in IntermediatesEdgeValidityChecker.

Field Documentation

◆ m_reportCollisions

bool EdgeValidityCheckerMethod::m_reportCollisions {false}

protected

If true the list of obstacles in collision will be reported

The documentation for this class was generated from the following files:

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/EdgeValidityCheckers/EdgeValidityCheckerMethod.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/EdgeValidityCheckers/EdgeValidityCheckerMethod.cpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EI

◆ EID

◆ RoadmapType

◆ VID

Constructor & Destructor Documentation

◆ EdgeValidityCheckerMethod() [1/2]

◆ EdgeValidityCheckerMethod() [2/2]

◆ ~EdgeValidityCheckerMethod()

Member Function Documentation

◆ EdgeWeightedClearance() [1/2]

◆ EdgeWeightedClearance() [2/2]

◆ Initialize()

◆ SetReportCollisions()

◆ ValidateEdge() [1/2]

◆ ValidateEdge() [2/2]

Field Documentation

◆ m_reportCollisions